122 lines
1.7 KiB
C++
122 lines
1.7 KiB
C++
#include "rotary_encoder_driver.h"
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#include <avr/interrupt.h>
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RotaryEncoderDriver* driver = nullptr;
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RotaryEncoderDriver::RotaryEncoderDriver()
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: cycle(0)
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, count(0)
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, prev_count(0)
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, speed_ready(false)
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, led(5)
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, eA(2)
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, eB(5) {}
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void RotaryEncoderDriver::begin() {
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driver = this;
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led.init();
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eA.init();
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eB.init();
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EICRA |= (1<<ISC01) | (1<<ISC00);
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EIMSK |= (1<<INT0);
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timer.init(5000);
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}
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void RotaryEncoderDriver::update() {
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count += eB.is_hi() ? 1 : -1;
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led.set_hi();
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}
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int RotaryEncoderDriver::position() {
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uint8_t oldSREG = SREG;
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cli();
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int16_t local_count = count;
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SREG = oldSREG;
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led.set_lo();
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return local_count;
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}
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void RotaryEncoderDriver::update_delta() {
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delta = count - prev_count;
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prev_count = count;
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speed_ready = true;
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led.set_lo();
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}
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float RotaryEncoderDriver::count_per_sec() {
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uint8_t oldSREG = SREG;
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cli();
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int16_t local_delta = delta;
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SREG = oldSREG;
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return local_delta / 0.005f;
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}
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float RotaryEncoderDriver::rpm()
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{
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const float COUNTS_PER_REV = 1050.0f;
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return count_per_sec() * 60.0f / COUNTS_PER_REV;
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}
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bool RotaryEncoderDriver::new_speed_available()
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{
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uint8_t oldSREG = SREG;
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cli();
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bool ready = speed_ready;
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if (ready)
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{
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speed_ready = false;
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}
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SREG = oldSREG;
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return ready;
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}
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void RotaryEncoderDriver::reset_speed_measurement()
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{
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uint8_t oldSREG = SREG;
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cli();
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cycle = 0;
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prev_count = count;
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delta = 0;
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speed_ready = false;
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SREG = oldSREG;
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}
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ISR(INT0_vect) {
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driver->update();
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}
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ISR(TIMER1_COMPA_vect) {
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driver->update_delta();
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}
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